Diff: Utils.h

Revision:

40:8e852115fe55

Child:

46:fd5a62296b12

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Utils.h	Tue May 26 11:28:37 2015 +0000
@@ -0,0 +1,51 @@
+#ifndef _H_UTILS_H
+#define _H_UTILS_H
+
+#include "Vector3.h"
+
+class utils
+{
+public:
+    static float clip(float const minimum, float const val, float const maximum)
+    {
+        return (val < minimum) ? minimum : ((val > maximum) ? maximum : val);
+    }
+    
+    static void debugPortSend(uint8_t const* src, size_t const size)
+    {
+    #if defined(DATA_OUTPUT)
+        putc(0x10, stdout); // marker
+        for (int i = 0; i < size; i++) {
+            putc(src[i] & 0x0f, stdout);
+            putc(src[i]   >> 4, stdout);
+        }
+    #endif
+    }
+
+    static void sendVectorOverUART( const Vector3 a = Vector3(0, 0, 0),
+                                    const Vector3 b = Vector3(0, 0, 0),
+                                    const Vector3 c = Vector3(0, 0, 0),
+                                    const Vector3 d = Vector3(0, 0, 0))
+    {
+        float data[] = {
+            a.x, a.y, a.z,
+            b.x, b.y, b.z,
+            c.x, c.y, c.z,
+            d.x, d.y, d.z
+        };
+        
+        debugPortSend((const uint8_t*) data, sizeof data);
+    }
+    
+    static float deg2rad(float const d)
+    {
+        return d * 0.0174532925f;
+    }
+    
+    static float rad2deg(float const r)
+    {
+        return r * 57.2957795131f;
+    }
+};
+
+#endif//_H_UTILS_H